ARSIP: Automated Robotic System for Industrial Painting

摘要

This manuscript addresses the critical need for precise paint application to ensure product durability and aesthetics. While manual work carries risks, robotic systems promise accuracy, yet programming diverse product trajectories remains a challenge. This study aims to develop an autonomous system capable of generating paint trajectories based on object geometries for user-defined spraying processes. By emphasizing energy efficiency, process time, and coating thickness on complex surfaces, a hybrid optimization technique enhances overall efficiency. Extensive hardware and software development results in a robust robotic system leveraging the Robot Operating System (ROS). Integrating a low-cost 3D scanner, calibrator, and trajectory optimizer creates an autonomous painting system. Hardware components, including sensors, motors, and actuators, are seamlessly integrated with a Python and ROS-based software framework, enabling the desired automation. A web-based GUI, powered by JavaScript, allows user control over two robots, facilitating trajectory dispatch, 3D scanning, and optimization. Specific nodes manage calibration, validation, process settings, and real-time video feeds. The use of open-source software and an ROS ecosystem makes it a good choice for industrial-scale implementation. The results indicate that the proposed system can achieve the desired automation, contingent upon surface geometries, spraying processes, and robot dynamics.